Hugging Face's logo

Datasets:
HorizonRobotics
/
EmbodiedGenData

Modalities:
3D
Image
Tabular
Formats:
csv
Size:
1K - 10K
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
2
xinjjj commited on
Commit
53f9708
·
verified ·
1 Parent(s): ed9935a

Add asset bathroom_supplies/personal_care/c0573869bc7e5ed08339aa299fc1ce1a

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -1
  2. dataset/bathroom_supplies/personal_care/c0573869bc7e5ed08339aa299fc1ce1a/affordance/affordance_annot.json +369 -0
  3. dataset/bathroom_supplies/personal_care/c0573869bc7e5ed08339aa299fc1ce1a/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bathroom_supplies/personal_care/c0573869bc7e5ed08339aa299fc1ce1a/nail_clipper_015.urdf +1 -0
.gitattributes CHANGED
@@ -5831,4 +5831,4 @@ dataset/bathroom_supplies/personal_care/bbe2c941cc33548f95eb909ffdc9d2cb/afforda
5831
  dataset/bathroom_supplies/personal_care/bd3c9b02321a5b6cbfff0adccab36821/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5832
  dataset/bathroom_supplies/personal_care/bf91102be0b45ab585044490ff6d8434/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5833
  dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5834
- dataset/bathroom_supplies/personal_care/c038ba4629475556bfed6bb10e708c74/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
5831
  dataset/bathroom_supplies/personal_care/bd3c9b02321a5b6cbfff0adccab36821/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5832
  dataset/bathroom_supplies/personal_care/bf91102be0b45ab585044490ff6d8434/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5833
  dataset/bathroom_supplies/personal_care/bd61cfff8be058dcb7b128626682b4a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5834
+ dataset/bathroom_supplies/personal_care/c0573869bc7e5ed08339aa299fc1ce1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/c0573869bc7e5ed08339aa299fc1ce1a/affordance/affordance_annot.json ADDED
@@ -0,0 +1,369 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "operating lever",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the raised lever to rotate it and actuate the clipper jaws",
10
+ "confidence": 0.9
11
+ },
12
+ {
13
+ "scenario": "pinch the lever to pick up or reposition the nail clipper",
14
+ "confidence": 0.72
15
+ },
16
+ {
17
+ "scenario": "hold the lever while aligning the clipper for use",
18
+ "confidence": 0.65
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "press to actuate cutting",
23
+ "provide finger leverage",
24
+ "open and close the jaws"
25
+ ],
26
+ "semantic_description": "Long narrow light blue coated metal lever with a smooth slightly matte surface and faint embossed markings, mounted on top near the pivot and tapering to a rounded end.",
27
+ "id": 0,
28
+ "grasp_group": {
29
+ "grasp_0": {
30
+ "confidence": 0.9075073003768921,
31
+ "position": [
32
+ -0.11426767287775874,
33
+ 0.000511288864800008,
34
+ -0.003793924697674811
35
+ ],
36
+ "orientation": {
37
+ "w": 0.6068787962727913,
38
+ "xyz": [
39
+ -0.3627515433384507,
40
+ 0.5843887243210185,
41
+ -0.3982452301365486
42
+ ]
43
+ }
44
+ },
45
+ "grasp_8": {
46
+ "confidence": 0.6781497597694397,
47
+ "position": [
48
+ 0.07326496066525578,
49
+ 0.009186027677060338,
50
+ 0.08435954956803471
51
+ ],
52
+ "orientation": {
53
+ "w": 0.26838325937725044,
54
+ "xyz": [
55
+ 0.7276959471447885,
56
+ -0.5751972499860728,
57
+ -0.25995606975708824
58
+ ]
59
+ }
60
+ },
61
+ "grasp_10": {
62
+ "confidence": 0.6187238097190857,
63
+ "position": [
64
+ 0.1008670968003571,
65
+ 0.030512633838952752,
66
+ 0.011550017283298075
67
+ ],
68
+ "orientation": {
69
+ "w": 0.23990564305311943,
70
+ "xyz": [
71
+ 0.7362331330677547,
72
+ 0.011391694010995823,
73
+ -0.632673917205433
74
+ ]
75
+ }
76
+ },
77
+ "grasp_15": {
78
+ "confidence": 0.5139740705490112,
79
+ "position": [
80
+ 0.1072121006436646,
81
+ 0.006883644138724776,
82
+ 0.03144272102508694
83
+ ],
84
+ "orientation": {
85
+ "w": 0.311948050486644,
86
+ "xyz": [
87
+ 0.7172312509949981,
88
+ -0.3126386380101017,
89
+ -0.5390035513954623
90
+ ]
91
+ }
92
+ }
93
+ }
94
+ },
95
+ {
96
+ "part_name": "clipper body with cutting jaws",
97
+ "mask_color": "Yellow",
98
+ "graspable": true,
99
+ "grasp_scenarios": [
100
+ {
101
+ "scenario": "grasp the body to pick up and carry the nail clipper",
102
+ "confidence": 0.9
103
+ },
104
+ {
105
+ "scenario": "hold the body while the lever is actuated",
106
+ "confidence": 0.83
107
+ },
108
+ {
109
+ "scenario": "grasp near the rear body to orient the cutting end toward a nail",
110
+ "confidence": 0.77
111
+ }
112
+ ],
113
+ "functional_labels": [
114
+ "support the mechanism",
115
+ "provide main grasp surface",
116
+ "cut nails at the jaws",
117
+ "align the cutting edge"
118
+ ],
119
+ "semantic_description": "Elongated white to light blue coated metal body with a smooth hard finish, consisting of two springy arms forming small curved cutting jaws at one end and a hanging hole at the other.",
120
+ "id": 3,
121
+ "grasp_group": {
122
+ "grasp_20": {
123
+ "confidence": 0.933083176612854,
124
+ "position": [
125
+ -0.1131812515668571,
126
+ 0.016138437309564324,
127
+ -0.01353315485175699
128
+ ],
129
+ "orientation": {
130
+ "w": 0.6180047578021823,
131
+ "xyz": [
132
+ 0.4513919800705348,
133
+ 0.4984202511656013,
134
+ 0.407299217885189
135
+ ]
136
+ }
137
+ },
138
+ "grasp_21": {
139
+ "confidence": 0.9323377013206482,
140
+ "position": [
141
+ -0.1092052417807281,
142
+ 0.017531822541059228,
143
+ 0.025381377548910677
144
+ ],
145
+ "orientation": {
146
+ "w": 0.46609802618175894,
147
+ "xyz": [
148
+ 0.6102358103275638,
149
+ 0.5273752777037659,
150
+ 0.36364845971103266
151
+ ]
152
+ }
153
+ },
154
+ "grasp_23": {
155
+ "confidence": 0.9255288243293762,
156
+ "position": [
157
+ -0.10826243786141276,
158
+ 0.022596291371883126,
159
+ 0.017378684715367854
160
+ ],
161
+ "orientation": {
162
+ "w": 0.5098632901713064,
163
+ "xyz": [
164
+ 0.5933096699819065,
165
+ 0.5079889616372579,
166
+ 0.36051390499722985
167
+ ]
168
+ }
169
+ },
170
+ "grasp_24": {
171
+ "confidence": 0.9241897463798523,
172
+ "position": [
173
+ -0.11530661163851619,
174
+ 0.001746591635310324,
175
+ -0.017135166912339628
176
+ ],
177
+ "orientation": {
178
+ "w": 0.5977489023634166,
179
+ "xyz": [
180
+ 0.42374823117886623,
181
+ 0.5047544053440741,
182
+ 0.4564610351189496
183
+ ]
184
+ }
185
+ },
186
+ "grasp_25": {
187
+ "confidence": 0.92292320728302,
188
+ "position": [
189
+ -0.11322985915467143,
190
+ 0.009736477502883645,
191
+ 0.01206374226603657
192
+ ],
193
+ "orientation": {
194
+ "w": 0.5158523933369219,
195
+ "xyz": [
196
+ 0.5226631946930775,
197
+ 0.5590577981957456,
198
+ 0.3849335935954672
199
+ ]
200
+ }
201
+ },
202
+ "grasp_26": {
203
+ "confidence": 0.9190079569816589,
204
+ "position": [
205
+ -0.10974032757803798,
206
+ 0.025518004887999268,
207
+ 0.01401119923684746
208
+ ],
209
+ "orientation": {
210
+ "w": 0.3518582397174863,
211
+ "xyz": [
212
+ -0.5079651347960482,
213
+ 0.5834593856036906,
214
+ -0.5270126623957988
215
+ ]
216
+ }
217
+ },
218
+ "grasp_27": {
219
+ "confidence": 0.9175415635108948,
220
+ "position": [
221
+ -0.10970034031197429,
222
+ 0.014969065890909405,
223
+ 0.008708729990758002
224
+ ],
225
+ "orientation": {
226
+ "w": 0.5204620639881132,
227
+ "xyz": [
228
+ 0.5546289946128432,
229
+ 0.5139172294352187,
230
+ 0.3967303865014735
231
+ ]
232
+ }
233
+ },
234
+ "grasp_28": {
235
+ "confidence": 0.9169591069221497,
236
+ "position": [
237
+ -0.11113369790837169,
238
+ 0.012155632593930932,
239
+ 0.00723386334720999
240
+ ],
241
+ "orientation": {
242
+ "w": 0.4566634292029847,
243
+ "xyz": [
244
+ -0.4744843076426513,
245
+ 0.574203666569643,
246
+ -0.4864291351547761
247
+ ]
248
+ }
249
+ },
250
+ "grasp_29": {
251
+ "confidence": 0.9163293838500977,
252
+ "position": [
253
+ -0.11404546676203609,
254
+ 0.0014467643231910188,
255
+ -0.028323958977125585
256
+ ],
257
+ "orientation": {
258
+ "w": 0.4341594793324902,
259
+ "xyz": [
260
+ -0.49761041591245225,
261
+ 0.36225313637149525,
262
+ -0.65777054180785
263
+ ]
264
+ }
265
+ },
266
+ "grasp_30": {
267
+ "confidence": 0.9156487584114075,
268
+ "position": [
269
+ -0.11065807519480586,
270
+ 0.012450537749828072,
271
+ 0.004339370992965996
272
+ ],
273
+ "orientation": {
274
+ "w": 0.5218456832639514,
275
+ "xyz": [
276
+ 0.5467983600835379,
277
+ 0.49774315378467593,
278
+ 0.4253708842048527
279
+ ]
280
+ }
281
+ },
282
+ "grasp_31": {
283
+ "confidence": 0.9138367176055908,
284
+ "position": [
285
+ -0.11280095158144832,
286
+ 0.02256843178838608,
287
+ -0.0026582813006825745
288
+ ],
289
+ "orientation": {
290
+ "w": 0.3921113929821279,
291
+ "xyz": [
292
+ -0.4772452631955712,
293
+ 0.5236655094250946,
294
+ -0.586736779560956
295
+ ]
296
+ }
297
+ },
298
+ "grasp_33": {
299
+ "confidence": 0.9132278561592102,
300
+ "position": [
301
+ -0.11208918271586299,
302
+ -0.0014500923098239582,
303
+ 0.010350696393288672
304
+ ],
305
+ "orientation": {
306
+ "w": 0.42893105777367696,
307
+ "xyz": [
308
+ -0.5651567565029382,
309
+ 0.5031585761221741,
310
+ -0.4934039273566234
311
+ ]
312
+ }
313
+ },
314
+ "grasp_36": {
315
+ "confidence": 0.9087690114974976,
316
+ "position": [
317
+ -0.11236007092520595,
318
+ 0.022891801887453767,
319
+ 0.01331561675760895
320
+ ],
321
+ "orientation": {
322
+ "w": 0.29909333879280997,
323
+ "xyz": [
324
+ -0.5704935687074337,
325
+ 0.5277371773410868,
326
+ -0.5536910098649679
327
+ ]
328
+ }
329
+ },
330
+ "grasp_37": {
331
+ "confidence": 0.9080137610435486,
332
+ "position": [
333
+ -0.11103187082335353,
334
+ 0.025016487681568833,
335
+ 0.025116721750237048
336
+ ],
337
+ "orientation": {
338
+ "w": 0.3389349690219699,
339
+ "xyz": [
340
+ -0.5212184124903515,
341
+ 0.613173097127086,
342
+ -0.48731222662138407
343
+ ]
344
+ }
345
+ },
346
+ "grasp_39": {
347
+ "confidence": 0.9056638479232788,
348
+ "position": [
349
+ -0.1081976699642837,
350
+ -0.006641476309596328,
351
+ -0.030318211182020605
352
+ ],
353
+ "orientation": {
354
+ "w": 0.6022924510206701,
355
+ "xyz": [
356
+ 0.3789788839746333,
357
+ 0.48696758538716345,
358
+ 0.5064399073207511
359
+ ]
360
+ }
361
+ }
362
+ }
363
+ }
364
+ ],
365
+ "quality_check": {
366
+ "success": true,
367
+ "message": "YES"
368
+ }
369
+ }
dataset/bathroom_supplies/personal_care/c0573869bc7e5ed08339aa299fc1ce1a/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c810f5b4c4cbc91b069fbd6d6c640f487cc44cd7f9d4ede95a38677467f4d13a
3
+ size 3779152
dataset/bathroom_supplies/personal_care/c0573869bc7e5ed08339aa299fc1ce1a/nail_clipper_015.urdf CHANGED
@@ -58,6 +58,7 @@
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
 
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>YES</PartSegChecker>
 
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
61
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
62
  </affordance>
63
  <quality>
64
  <PartSegChecker>YES</PartSegChecker>